Pose Determination Of A Satellite Grapple Fixture Using A Wrist-Mounted Laser Range Finder

C. Merritt; C. Archibald; T. Ng

doi:10.1117/12.960319

27 March 1989 Pose Determination Of A Satellite Grapple Fixture Using A Wrist-Mounted Laser Range Finder

C. Merritt, C. Archibald, T. Ng

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960319
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

A laser range finder mounted on a robot wrist has been used to determine the position and orientation (pose) of a standard satellite grapple fixture. This sensor provides single profiles of range data. Non-adjacent parallel scanlines are acquired from a selected viewpoint, giving data which is sparse along the y-axis of the scanner, while being dense along the x-axis. An application-dependent algorithm for recognition of the grapple fixture components and its pose determination has been implemented. The method takes advantage of the sparse nature of the data, thereby requiring a minimal amount of processing.

Citation Download Citation

C. Merritt, C. Archibald, and T. Ng "Pose Determination Of A Satellite Grapple Fixture Using A Wrist-Mounted Laser Range Finder", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960319

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